Development of hybrid architecture of the control system for modular and re-configurable robot (MRR) manipulators.
Our rough guess is there are 32,000 words in this book.
At a pace averaging 250 words per minute, this book will take 2 hours and 8 minutes to read. With a half hour per day, this will take 4 days to read.
How long will it take you?
This book will take an estimated to read at a reading speed averaging words per minute. With 30 minutes per day, this will take to read.
Enter your reading speedYou can take one of our WPM reading speed tests to find your reading speed.
Create a free account to track your reading progress, build your reading list, and set reading goals.
Word Count
32,000 words, Guess
Page Count
128 pages
Identifiers
- ISBN-139780494212912
- ISBN-100494212918
- Open LibraryOL19551769M
Description
Architecture forms the backbone of complete robotic control systems, and so should be fully studied before the system is built. The major purpose of this thesis is to provide insight and exclusive discussion on control system architecture of modular re-configurable robot manipulators, and thus led to further research into architectural requirements, tasks, specifications, structure, communication bus, and prototype implementation and test work.The hybrid architecture proposed here combines the merits of centralized and distributed controls. It has a centralized, supervisor-level controller and distributed, module-level controllers. Between them is the communication level for information exchange. The open, self-contained modular design and multiple control modes provide solid support for reconfigurability, and reactive control is introduced for first time into the manipulator control system architecture. The key factors in selecting communication buses and real-time operation systems are discussed. The architecture was tested on two MRR prototypes, and the results confirmed its validity.
Subjects
Links
Reader Reviews
No reviews yet for this book.
Be the first to share your thoughts!